Image drawing for pixel finished

image_drawer.py

@@ -1,43 +0,0 @@
-import matplotlib.pyplot as plt
-import dobot
-import time
-
-DRAW_MODE = 1
-DRAW_SPEED = 1
-DRAW_SIZE = 40
-DRAW_DEPTH = -69
-DRAW_RES = 2
-
-INIT_POSITION = [240, -10]
-
-dobot.setQueuedCmdClear()
-dobot.setQueuedCmdStartExec()
-
-dobot.setPTPJumpParams(5, 3, 1)
-
-matrix = []
-for x in range(INIT_POSITION[0], INIT_POSITION[0]+DRAW_SIZE, DRAW_RES):
-    for y in range(INIT_POSITION[1], INIT_POSITION[1]+DRAW_SIZE, DRAW_RES):
-        matrix.append((x,y))
-
-for point in matrix:
-    dobot.setPTPCmd(1, point[0], point[1], DRAW_DEPTH+5, 0, 1)
-    dobot.setPTPCmd(1, point[0], point[1], DRAW_DEPTH, 0, 1)
-    dobot.setPTPCmd(1, point[0], point[1], DRAW_DEPTH+5, 0, 1)
-
-    dobot.setWaitCmd(3)
-    time.sleep(0.8)
-
-def pixel_draw(resolution):
-    pass
-
-def vector_draw(array):
-    for vector in array:
-        dobot.setCPCmd(DRAW_MODE, array.x, array.y, array.z, DRAW_SPEED, 1)
-
-# Stop the current execution
-if input("Appuyez sur Entrer pour arrêter.") == "":
-    dobot.setQueuedCmdForceStopExec()
-    dobot.setQueuedCmdClear()
-
-# Define current workspace

src/image_drawer.py

@@ -0,0 +1,69 @@
+import matplotlib.pyplot as plt
+import dobot
+import time
+import cv2 as cv
+
+# Drawing parameters
+DRAW_MODE = 1
+DRAW_SPEED = 1      # Drawing speed for 
+DRAW_DEPTH = -67.8  # Initial height (null)
+DRAW_RES = 1        # Space between pixels
+THRESHOLD = 70      # Min. intensityfrom which a pixel must be drawn
+
+INIT_POSITION = [210, -60]
+
+dobot.setQueuedCmdClear()
+dobot.setQueuedCmdStartExec()
+
+def pixel_draw(imagepath):
+
+    # Load Image
+    im = cv.imread(imagepath)
+    if im is None:
+        print("Error: Image not found at", imagepath)
+        exit()
+
+    # Resize Image
+    im = cv.resize(im, (0, 0), fx = 0.05, fy = 0.05, interpolation=cv.INTER_LINEAR)
+
+    # Convert to Grayscale
+    im = cv.cvtColor(im, cv.COLOR_BGR2GRAY)
+    
+    # Window name in which image is displayed
+    window_name = 'Display'
+
+    # Using cv2.imshow() method
+    # Displaying the image
+    im_display = cv.resize(im, (0, 0), fx = 10, fy = 10, interpolation=cv.INTER_LINEAR)
+    print(im)
+    print(im.shape[0], im.shape[1])
+    cv.imshow(window_name, im_display)
+    # waits for user to press any key
+    # (this is necessary to avoid Python kernel form crashing)
+    cv.waitKey(0)
+
+    for x in range(0, im.shape[0]-1):
+        for y in range(0, im.shape[1]-1):
+            value = im[x][y]
+            print(value)
+
+            if value >= THRESHOLD:
+                dobot.setPTPCmd(1, INIT_POSITION[0]+x*DRAW_RES, INIT_POSITION[1]+y*DRAW_RES, DRAW_DEPTH+2.5, 0, 1)
+                dobot.setPTPCmd(1, INIT_POSITION[0]+x*DRAW_RES, INIT_POSITION[1]+y*DRAW_RES, DRAW_DEPTH-(value/255), 0, 1)
+                dobot.setPTPCmd(1, INIT_POSITION[0]+x*DRAW_RES, INIT_POSITION[1]+y*DRAW_RES, DRAW_DEPTH+2.5, 0, 1)
+
+                #dobot.setWaitCmd(5)
+                time.sleep(0.8)
+
+def vector_draw(array):
+    for vector in array:
+        dobot.setCPCmd(DRAW_MODE, array.x, array.y, array.z, DRAW_SPEED, 1)
+
+pixel_draw("C:/Users/alexl/Documents/Cours/S7/IT and Robotics/GrpC_Identikit/assets/sins.jpg")
+
+# Stop the current execution
+"""if input("Appuyez sur Entrer pour arrêter.") == "":
+    dobot.setQueuedCmdForceStopExec()
+    dobot.setQueuedCmdClear()
+"""
+# Define current workspace